OpenRaiser/Intern-Atlas huggingface dataset:
A ROS2 Benchmarking Framework for Hierarchical Control Strategies in Mobile Robots for Mediterranean Greenhouses
Venue: arXiv cs.RO 2026
Year: 2026

Mobile robots operating in agroindustrial environments, such as Mediterranean greenhouses, are subject to challenging conditions, including uneven terrain, variable friction, payload changes, and terrain slopes, all of which significantly affect control performance and stability. Despite the increasing adoption of robotic platforms in agriculture, the lack of standardized, reproducible benchmarks impedes fair comparisons and systematic evaluations of control strategies under realistic operating conditions. This paper presents a comprehensive benchmarking framework for evaluating mobile robot controllers in greenhouse environments. The proposed framework integrates an accurate three dimensional model of the environment, a physics based simulator, and a hierarchical control architecture comprising low, mid, and high level control layers. Three benchmark categories are defined to enable modular assessment, ranging from actuator level control to full autonomous navigation. Additionally, three disturbance scenarios payload variation, terrain type, and slope are explicitly modeled to replicate real world agricultural conditions. To ensure objective and reproducible evaluation, standardized performance metrics are introduced, including the Squared Absolute Error (SAE), the Squared Control Input (SCI), and composite performance indices. Statistical analysis based on repeated trials is employed to mitigate the influence of sensor noise and environmental variability. The framework is further enhanced by a plugin based architecture that facilitates seamless integration of user defined controllers and planners. The proposed benchmark provides a robust and extensible tool for the quantitative comparison of classical, predictive, and planning based control strategies in realistic conditions, bridging the gap between simulation based analysis and real world agroindustrial applications.
Distributional Deep Learning for Super-Resolution of 4D Flow MRI under Domain Shift
Venue: arXiv cs.CV 2026
Year: 2026

Super-resolution is widely used in medical imaging to enhance low-quality data, reducing scan time and improving abnormality detection. Conventional super-resolution approaches typically rely on paired datasets of downsampled and original high resolution images, training models to reconstruct high resolution images from their artificially degraded counterparts. However, in real-world clinical settings, low resolution data often arise from acquisition mechanisms that differ significantly from simple downsampling. As a result, these inputs may lie outside the domain of the training data, leading to poor model generalization due to domain shift. To address this limitation, we propose a distributional deep learning framework that improves model robustness and domain generalization. We develop this approch for enhancing the resolution of 4D Flow MRI (4DF). This is a novel imaging modality that captures hemodynamic flow velocity and clinically relevant metrics such as vessel wall stress. These metrics are critical for assessing aneurysm rupture risk. Our model is initially trained on high resolution computational fluid dynamics (CFD) simulations and their downsampled counterparts. It is then fine-tuned on a small, harmonized dataset of paired 4D Flow MRI and CFD samples. We derive the theoretical properties of our distributional estimators and demonstrate that our framework significantly outperforms traditional deep learning approaches through real data applications. This highlights the effectiveness of distributional learning in addressing domain shift and improving super-resolution performance in clinically realistic scenarios.
Autodeleveraging as Online Learning
Venue: arXiv cs.GT 2026
Year: 2026

Autodeleveraging (ADL) is a last-resort loss socialization mechanism used by perpetual futures venues when liquidation and insurance buffers are insufficient to restore solvency. Despite the scale of perpetual futures markets, ADL has received limited formal treatment as a sequential control problem. This paper provides a concise formalization of ADL as online learning on a PNL-haircut domain: at each round, the venue selects a solvency budget and a set of profitable trader accounts. The profitable accounts are liquidated to cover shortfalls up to the solvency budget, with the aim of recovering exchange-wide solvency. In this model, ADL haircuts apply to positive PNL (unrealized gains), not to posted collateral principal. Using our online learning model, we provide robustness results and theoretical upper bounds on how poorly a mechanism can perform at recovering solvency. We apply our model to the October 10, 2025 Hyperliquid stress episode. The regret caused by Hyperliquid's production ADL queue is about 50\% of an upper bound on regret, calibrated to this event, while our optimized algorithm achieves about 2.6\% of the same bound. In dollar terms, the production ADL model over liquidates trader profits by up to \$51.7M. We also counterfactually evaluated algorithms inspired by our online learning framework that perform better and found that the best algorithm reduces overshoot to \$3M. Our results provide simple, implementable mechanisms for improving ADL in live perpetuals exchanges.
Multi-Agent Home Energy Management Assistant
Venue: arXiv cs.HC 2026
Year: 2026

The growing complexity in home energy management demands advanced systems that guide occupants toward informed energy decisions. Large language model (LLM)-integrated home energy management systems (HEMS) have shown promise, but prior studies relied on prompt engineering or pre-built platforms with limited customization of agent behavior, or assessed performance through single-turn or -task evaluations. This study introduces a multi-agent home energy management assistant (HEMA), built on LangChain and LangGraph, designed to adaptively and intelligently handle real-world use cases of HEMS with full system customization capability. It carefully classifies user queries via a self-consistency classifier, requests three specialized agents (Analysis, Knowledge, and Control) to prepare accurate, adaptive responses using purpose-built analysis and control tools and retrieval augmented generation under the reasoning and acting mechanism. HEMA was rigorously assessed using two different experimental analyses via an LLM-as-user approach: (1) analytical and informative capabilities using combinatorial test cases of various personas and differing scenarios against three alternative system configurations relying on vanilla LLM and (2) control capabilities using various control scenarios. Out of 295 test cases, HEMA acquired a 91.9% goal achievement rate, successfully fulfilling user requests while providing high levels of factual accuracy, action correctness, interaction quality, and system efficiency, especially when compared to alternative system configurations. Collectively, this study contributes to the advancement of the human-centered design of LLM-integrated HEMS by demonstrating the feasibility and value of agentic architectures, and by clarifying the architectural requirements and evaluation criteria necessary to support adaptive, sustained human-artificial intelligence collaboration in HEMS.
Equilibria in Large Position-Optimization Games
Venue: arXiv cs.GT 2026
Year: 2026

We propose a general class of symmetric games called position-optimization games. Given a probability distribution $Q$ over a set of targets $\mathcal{Y}$, the $n$ players each choose a position in a space $\mathcal{X}$. A player's utility is the $Q$-mass of targets they are closest to under some proximity measure, with ties broken evenly. Our model captures Hotelling games and forecasting competitions, among other applications. We show that for sufficiently large $n$, both pure and symmetric mixed Nash equilibria exist, and moreover are extreme: all players play on a finite set of pseudo-targets $\mathcal{X}^* \subseteq \mathcal{X}$. We further show that both pure and symmetric mixed equilibria converge to the distribution $P$ on $\mathcal{X}^*$ induced by $Q$, and bound the convergence rate in $n$. The generality of our model allows us to extend and strengthen previous work in Hotelling games, and prove entirely new results in forecasting competitions and other applications.
A Scan-Based Analysis of Internet-Exposed IoT Devices Using Shodan Data
Venue: arXiv cs.CR 2026
Year: 2026

An open measurement problem in IoT security is whether scan-observable network configurations encode population-level exposure risk beyond individual devices. An analysis of internet-exposed IoT endpoints using a controlled multi-country sample from Shodan Search and Shodan InternetDB, selecting 100 hosts identified via TCP port 7547 (TR-069/CWMP) and evenly distributed across the ten most represented countries. Hosts are enriched with scan-derived metadata and analyzed using feature-relevance assessment, cross-country comparisons of open and risky port exposure, and supervised classification of higher-risk exposure profiles. The analysis reveals consistent cross-country differences in exposure structure, with mean risky-port counts ranging from 0.4 to 1.0 per host, and achieves balanced accuracy of approximately 0.61 when classifying higher-risk exposure profiles.
Accelerating Large-Scale Dataset Distillation via Exploration-Exploitation Optimization
Venue: arXiv cs.CV 2026
Year: 2026

Dataset distillation compresses the original data into compact synthetic datasets, reducing training time and storage while retaining model performance, enabling deployment under limited resources. Although recent decoupling-based distillation methods enable dataset distillation at large scale, they continue to face an efficiency gap: optimization-based decoupling methods achieve higher accuracy but demand intensive computation, whereas optimization-free decoupling methods are efficient but sacrifice accuracy. To overcome this trade-off, we propose Exploration--Exploitation Distillation (E$^2$D), a simple, practical method that minimizes redundant computation through an efficient pipeline that begins with full-image initialization to preserve semantic integrity and feature diversity. It then uses a two-phase optimization strategy: an exploration phase that performs uniform updates and identifies high-loss regions, and an exploitation phase that focuses updates on these regions to accelerate convergence. We evaluate E$^2$D on large-scale benchmarks, surpassing the state-of-the-art on ImageNet-1K while being $18\times$ faster, and on ImageNet-21K, our method substantially improves accuracy while remaining $4.3\times$ faster. These results demonstrate that targeted, redundancy-reducing updates, rather than brute-force optimization, bridge the gap between accuracy and efficiency in large-scale dataset distillation. Code is available at https://github.com/ncsu-dk-lab/E2D.
Supporting Multimodal Data Interaction on Refreshable Tactile Displays: An Architecture to Combine Touch and Conversational AI
Venue: arXiv cs.HC 2026
Year: 2026

Combining conversational AI with refreshable tactile displays (RTDs) offers significant potential for creating accessible data visualization for people who are blind or have low vision (BLV). To support researchers and developers building accessible data visualizations with RTDs, we present a multimodal data interaction architecture along with an open-source reference implementation. Our system is the first to combine touch input with a conversational agent on an RTD, enabling deictic queries that fuse touch context with spoken language, such as "what is the trend between these points?" The architecture addresses key technical challenges, including touch sensing on RTDs, visual-to-tactile encoding, integrating touch context with conversational AI, and synchronizing multimodal output. Our contributions are twofold: (1) a technical architecture integrating RTD hardware, external touch sensing, and conversational AI to enable multimodal data interaction; and (2) an open-source reference implementation demonstrating its feasibility. This work provides a technical foundation to support future research in multimodal accessible data visualization.
OSCAR: An Ovipositor-Inspired Self-Propelling Capsule Robot for Colonoscopy
Venue: arXiv cs.RO 2026
Year: 2026

Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic environment of the colon remains a significant challenge. We present OSCAR, an ovipositor-inspired self-propelling capsule robot that translates the transport strategy of parasitic wasps into a propulsion mechanism for colonoscopy. OSCAR mechanically encodes the ovipositor-inspired motion pattern through a spring-loaded cam system that drives twelve circumferential sliders in a coordinated, phase-shifted sequence. By tuning the motion profile to maximize the retract phase relative to the advance phase, the capsule creates a controlled friction anisotropy at the interface that generates net forward thrust. We developed an analytical model incorporating a Kelvin-Voigt formulation to capture the viscoelastic stick--slip interactions between the sliders and the tissue, linking the asymmetry between advance and retract phase durations to mean thrust, and slider-reversal synchronization to thrust stability. Comprehensive force characterization experiments in ex-vivo porcine colon revealed a mean steady-state traction force of 0.85 N, closely matching the model. Furthermore, experiments confirmed that thrust generation is speed-independent and scales linearly with the phase asymmetry, in agreement with theoretical predictions, underscoring the capsule's predictable performance and scalability. In locomotion validation experiments, OSCAR demonstrated robust performance, achieving an average speed of 3.08 mm/s, a velocity sufficient to match the cecal intubation times of conventional colonoscopy. By coupling phase-encoded friction anisotropy with a predictive model, OSCAR delivers controllable thrust generation at low normal loads, enabling safer and more robust self-propelling locomotion for robotic capsule colonoscopy.
Near-real-time Solutions for Online String Problems
Venue: arXiv cs.DS 2026
Year: 2026

Based on the Breslauer-Italiano online suffix tree construction algorithm (2013) with double logarithmic worst-case guarantees on the update time per letter, we develop near-real-time algorithms for several classical problems on strings, including the computation of the longest repeating suffix array, the (reversed) Lempel-Ziv 77 factorization, and the maintenance of minimal unique substrings, all in an online manner. Our solutions improve over the best known running times for these problems in terms of the worst-case time per letter, for which we achieve a poly-log-logarithmic time complexity, within a linear space. Best known results for these problems require a poly-logarithmic time complexity per letter or only provide amortized complexity bounds. As a result of independent interest, we give conversions between the longest previous factor array and the longest repeating suffix array in space and time bounds based on their irreducible representations, which can have sizes sublinear in the length of the input string.
Training-Free Zero-Shot Anomaly Detection in 3D Brain MRI with 2D Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Zero-shot anomaly detection (ZSAD) has gained increasing attention in medical imaging as a way to identify abnormalities without task-specific supervision, but most advances remain limited to 2D datasets. Extending ZSAD to 3D medical images has proven challenging, with existing methods relying on slice-wise features and vision-language models, which fail to capture volumetric structure. In this paper, we introduce a fully training-free framework for ZSAD in 3D brain MRI that constructs localized volumetric tokens by aggregating multi-axis slices processed by 2D foundation models. These 3D patch tokens restore cubic spatial context and integrate directly with distance-based, batch-level anomaly detection pipelines. The framework provides compact 3D representations that are practical to compute on standard GPUs and require no fine-tuning, prompts, or supervision. Our results show that training-free, batch-based ZSAD can be effectively extended from 2D encoders to full 3D MRI volumes, offering a simple and robust approach for volumetric anomaly detection.
Sparrow: Text-Anchored Window Attention with Visual-Semantic Glimpsing for Speculative Decoding in Video LLMs
Venue: arXiv cs.CV 2026
Year: 2026

Although speculative decoding is widely used to accelerate Vision-Language Models (VLMs) inference, it faces severe performance collapse when applied to Video Large Language Models (Vid-LLMs). The draft model typically falls into the trap of attention dilution and negative visual gain due to key-value cache explosion and context window mismatches. We observe a visual semantic internalization phenomenon in Vid-LLMs, indicating that critical visual semantics are implicitly encoded into text hidden states during deep-layer interactions, which renders raw visual inputs structurally redundant during deep inference. To address this, we propose the Sparrow framework, which first utilizes visually-aware text-anchored window attention via hidden state reuse to fully offload visual computation to the target model, and leverages intermediate-layer visual state bridging to train the draft model with semantic-rich intermediate states, thereby filtering out low-level visual noise. Additionally, a multi-token prediction strategy is introduced to bridge the training-inference distribution shift. Experiments show that Sparrow achieves an average speedup of 2.82x even with 25k visual tokens, effectively resolving the performance degradation in long sequences and offering a practical solution for real-time long video tasks.
Prescriptive Scaling Reveals the Evolution of Language Model Capabilities
Venue: arXiv cs.LG 2026
Year: 2026

For deploying foundation models, practitioners increasingly need prescriptive scaling laws: given a pre training compute budget, what downstream accuracy is attainable with contemporary post training practice, and how stable is that mapping as the field evolves? Using large scale observational evaluations with 5k observational and 2k newly sampled data on model performance, we estimate capability boundaries, high conditional quantiles of benchmark scores as a function of log pre training FLOPs, via smoothed quantile regression with a monotone, saturating sigmoid parameterization. We validate the temporal reliability by fitting on earlier model generations and evaluating on later releases. Across various tasks, the estimated boundaries are mostly stable, with the exception of math reasoning that exhibits a consistently advancing boundary over time. We then extend our approach to analyze task dependent saturation and to probe contamination related shifts on math reasoning tasks. Finally, we introduce an efficient algorithm that recovers near full data frontiers using roughly 20% of evaluation budget. Together, our work releases the Proteus 2k, the latest model performance evaluation dataset, and introduces a practical methodology for translating compute budgets into reliable performance expectations and for monitoring when capability boundaries shift across time.
Human-AI Interaction: Evaluating LLM Reasoning on Digital Logic Circuit included Graph Problems, in terms of creativity in design and analysis
Venue: arXiv cs.AR 2026
Year: 2026

Large Language Models (LLMs) are increasingly used by undergraduate students as on-demand tutors, yet their reliability on circuit- and diagram-based digital logic problems remains unclear. We present a human- AI study evaluating three widely used LLMs (GPT, Gemini, and Claude) on 10 undergraduate-level digital logic questions spanning non-standard counters, JK-based state transitions, timing diagrams, frequency division, and finite-state machines. Twenty-four students performed pairwise model comparisons, providing per-question judgments on (i) preferred model, (ii) perceived correctness, (iii) consistency, (iv) verbosity, and (v) confidence, along with global ratings of overall model quality, satisfaction across multiple dimensions (e.g., accuracy and clarity), and perceived mental effort required to verify answers. To benchmark technical validity, we applied an independent judge-based evaluation against official solutions for all ten questions, using strict correctness criteria. Results reveal a consistent gap between perceived helpfulness and formal correctness: for the most sequentially demanding problems (Q1- Q7), none of the evaluated LLMs matched the official answers, despite producing confident, well-structured explanations that students often rated favorably. Error analysis indicates that models frequently default to canonical textbook templates (e.g., standard ripple counters) and struggle to translate circuit structure into exact state evolution and timing behavior. These findings suggest that, without verification scaffolds, LLMs may be unreliable for core digital logic topics and can inadvertently reinforce misconceptions in undergraduate instruction.
FedPSA: Modeling Behavioral Staleness in Asynchronous Federated Learning
Venue: arXiv cs.LG 2026
Year: 2026

Asynchronous Federated Learning (AFL) has emerged as a significant research area in recent years. By not waiting for slower clients and executing the training process concurrently, it achieves faster training speed compared to traditional federated learning. However, due to the staleness introduced by the asynchronous process, its performance may degrade in some scenarios. Existing methods often use the round difference between the current model and the global model as the sole measure of staleness, which is coarse-grained and lacks observation of the model itself, thereby limiting the performance ceiling of asynchronous methods. In this paper, we propose FedPSA (Parameter Sensitivity-based Asynchronous Federated Learning), a more fine-grained AFL framework that leverages parameter sensitivity to measure model obsolescence and establishes a dynamic momentum queue to assess the current training phase in real time, thereby adjusting the tolerance for outdated information dynamically. Extensive experiments on multiple datasets and comparisons with various methods demonstrate the superior performance of FedPSA, achieving up to 6.37\% improvement over baseline methods and 1.93\% over the current state-of-the-art method.